A Fast Trajectory Planning Method for UAV Base on PRM
Lincheng Shen · Jisuanji fangzhen · 2008
A fast trajectory planning method based Probabilistic Roadmap Method(PRM) was proposed for unmanned aerial vehicle navigated by itself in large complicated environment.Using heuristic ruler and local planning algorithms,a Roadmap was constructed and checked to sure that it was connective.Then the optimal route was generated by map searching algorithm.Profile planning and some optimal methods were used to make the trajectory better.Experiment results demonstrate that the method is efficient and adaptable to environment,and can plan trajectories quickly with single processor.